Thanks for the info. 
So there is no way to do it by hand with the ssc-32 with BB2 and BAP?
Not at present time.
What would be needed is the angle of each joint for each sample, which isn’t presently available from the R/C servos. The addition of an encoder to each joint or a connection to the pot of the R/C servo could give this information. Then the forward Kinematics (FK) can be calculated.
I think there is a thread on this forum where “emptied out” R/C servos are used for their pot only, and assembled into a similar leg (or arm) for a command device.
Alan KM6VV
Most hobby servos have no way to send their position to a computer or microcontroller.
I am not sure what you mean by Hand… If you mean can I move the servos to a position by hand and then hit some button or the like to capture the current location of the servos, than you can not do this by normal Hitec hobby servos. You can do this with the Hitec Robotics series digital servos (HSR-xxx), that are for example used in the Robonova. There may be others as well, but I have had no experience with these. But assuming you with some of the more standard servos you do have a few different options.
a) Use Seq - works well. When you hookup the BB2 to the SSC-32, simply wire it such that it is easy to jumper the communications of the SSC-32 back, such that you can use it’s RS232 port to talk to the PC. Could hook up a DPDT switch for this. Or I have done this as simply as having a couple of short servo extension cables. 1 plugged in the the 3 pin part of the SSC32 comm port a second one to the 2 pin part, and a third one that I modify to connect up the bb2. (remove the red wire and hook it over to the pin I use to TX)… You connect the 1 3 wire one from SSC-32 to this one when you wish to have the BB2 communicate with the SSC-32, or you plug the two from the SSC-32 to each other when you wish for the SSC-32 to communicate with the PC. Not very hi-tech but I do this on my Hex robot… It is also easier now that you can run the Bap to SSC-32 at full speed (115200)
b) Write your own version of sequencer. I played with this a long time ago with the TV Brat Plus project: lynxmotion.com/images/html/build137.htm
c) you could build a replica of your biped using hacked up servos, that you can query the values from. I know that Robot Dude (and others) have experimented doing this for arms… I think Alan mentioned this as well
d) Have your biped walk using software the generates the appropriate servo angles. This is a pretty difficult task. Example look at the thread: viewtopic.php?f=7&t=6342
Good Luck
Kurt
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Could someone please link me to some tutorials on how to program and program inverse kinematics? Is inverse kinematics just very advanced programming?
Study the BasicAtom manual. Study the Phoenix project and its source code here on the forum.
Plenty of material!
Alan KM6VV
You said THE Phoenix code but I’m sure there’s more than one Phoenix project on this forum. Is this the one you are talking about?
–> viewtopic.php?f=8&t=4285
How does everyone learn IK? 
That should work!
Well, there are books on it, look under mechanical engineering or robotics.
There was a discussion a year or two back on the “workings” of a pre-Pheonix (Power Pod download) code for the hexapod. Try searching for IK_Drawing.jpg. There was a thread using that drawing. Maybe someone will remember the thread? I haven’t found it yet. Anyway, IK was discussed, as well as the code to calculate it.
http://www.marconettengineering.com/IK_Drawing.jpg
Alan KM6VV
Is it possible to get a biped to walk at variable speeds with “pre programmed sequences” and no IK. As in, if I push the joystick on the ps2 controller half way up, can I make the robot go only half speed and full speed if I push the joystick all the way up? Also, could I be able to adjust leg lift height and the robots height while walking or can you only do that with IK?
The IK for the phoenix is not the direction I would point you in. Kåre has kindly provided an IK solution for a Scout-like configuration. It’s probably still too complex for you, but at least it’s what you want to do.
viewtopic.php?f=7&t=6342
However from the posts you are making I would think the BRAT sequence driven gaits would be more suited to your needs. Although speed isn’t directly controllable from the PS2 it certainly could be added. This is a tutorial not a forum thread…
lynxmotion.com/images/html/build155.htm
This would not be easy using canned gaits. Anythings possible, but not necessarily easy…
Not 100% accurate. The PS2 BRAT code actually moves forward and back at a variable speed. This is mainly because that the 3DOF legs are rather simple. Take a look at the code for more detail. It most likely wouldn’t be the best idea to attempt a 5-6DOF leg with the same method, but there’s always a way.
That’s true!
Not sure why you’re asking about IK; as I’m now reminded that this is a BRAT thread.
Use the sequencer program and canned sequences first! Follow the examples!
Kåre’s thread would be a good example for IK on a BRAT, but probably not a good first project. You have the opportunity to learn a lot, but you might want to start off a little simpler.
If you really want to learn about IK, a hexapod might be a better project. But it’s ALL GOOD! Enjoy!
Alan KM6VV
P.S. Oh yeah, some IK on one of my groups below signature.
LOL this is not a brat thread. I have posted a couple times already that I will be making a custom biped with 10-12 servos. 
Is there anyone I could pay later on to program it for me and do inverse kinematics?
Also, what is the difference between what forward kinematics do and what inverse kinematics do?
Forward Kinematics is simply taking the joint angles and leg segment lengths, and calculating where the foot is.
Inverse Kinematics is taking a desired foot location, and figuring out the angles needed by the joints.
That reminds me! I received a slightly old Kondo: KHR-1 'bot just before Christmas! Sadly, no SES parts or std. servos, but it should be fun none-the-less! Something like 17 servos.
OK, custom. I’d start off with the SEQ softaware. Wish I could use it for Kondo san!
Alan KM6VV
So is there any need to do both inverse and forward kinematics on one robot or is it always one or the other? Also, don’t they both end up making the robot do the same thing and accomplish the same tasks?
That’s what I’m gonna do.
You’ll use the IK mostly. And occasionally the FK as well.
Alan KM6VV
What exactly would I need each one for?
You need the inverse Kinematics for most stuff. That is you say you want your leg to go from Point A to Point B in space. To do this you need to calculate an appropriate angle for each of the servos. This is where the IK comes in… Now suppose your leg has a sensor and hits the ground before you think it was going to and the servos are stopped. So where is the leg in our 3D space? Well you get the current angles from the servos and from this and the length of each segment you can calculate the 3D location. This is FK…
Warning: Lots of Math! There is a great book on it by Reaz Jazar called “Theory of Applied Robotics Kinematics, Dynamics and Control”. But my math is far to rusty for this. You need to start reading different threads and websites to start to get an understanding of this. For example look at this thread on Trossen Robotics: forums.trossenrobotics.com/showt … kinematics
Look through the threads by Zenta, probably the most appropriate ones are the ones on his robot Archer. Look at his spreadsheet PEP that he did for a hexapod…
There are lots of other places on the web including:
en.wikipedia.org/wiki/Denavit-Ha … Parameters
societyofrobots.com/robot_ar … kinematics
freespace.virgin.net/hugo.elias/models/m_ik2.htm
…
Just google…
Good Luck
Kurt
I think I’m just going to stick with preprogrammed sequences since it looks like kinematics is impossible to learn for me. I need to learn BASIC correct?
I think maybe your best option is to just order the kit, follow the tutorials and then once you have the kit up and running, spend a bit of time learning the code.
Of cause its a very safe way to make sure you fully understand what you are spending your hard earned cash on but these are designed for anyone. beginners to pro’s.
im not a programmer but i have learned so much just from buying kits or expanding the SES stock i have so i can make custom robots. its the only way to learn. one step at a time.